PANDRIVE PANdriveforStepper PD57/60/86-1378HardwareManual HardwareVersionV1.10 DocumentRevisionV1.212020-APR-24 ThePD57/60/86-1378isaneasytousePANdrivesmartstepperdrive. Thedriveiscontrolledvia aCANbusinterfaceandcomeswithtwormwareoptionsTMCLandCANopen. Withitsbuilt- inhighresolutionencoder,thePD57/60/86-1378ismainlydesignedforclosed-loopoperation,but alsofeaturesStealthChopforabsolutesilentmotorcontrol,SpreadCycleforhighspeedstepper motorcommutationaswellasStallGuard2andCoolStep.Thefullyintegratedhardwaremotion controllersupportstrapezoidalramps,SixPointrampsands-shapedramps. Features PANdrivesmartmotor SupplyVoltage+12to+52VDC CANbusinterface TMCLorCANopenprotocol Integrated ramp motion controller withdierentramptypes StealthChopsilentPWMmode SpreadCyclesmartmixeddecay StallGuard2loaddetection CoolStep automatic current scal- ing Applications Lab-Automation Robotics CNC Manufacturing FactoryAutomation SimpliedBlockDiagram 2021TRINAMICMotionControlGmbH&Co. KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionat: www.trinamic.com Readentiredocumentation.PD57/60/86-1378HardwareManualHardwareVersionV1.10 DocumentRevisionV1.212020-APR-24 2/24 Contents 1 Features 3 1.1 GeneralFeatures . 3 1.2 TRINAMICsUniqueFeatures 4 1.2.1 stealthChop 4 1.2.2 spreadCycle 4 1.2.3 stallGuard2 . 4 1.2.4 coolStep . 5 2 OrderCodes 6 3 MechanicalandElectricalInterfacing 7 3.1 PD57/60/86-1378Dimensions . 7 3.2 PD57/60/86-1378DimensionsandWeight 7 3.3 PD57/60/86-1378MotorParameters . 8 3.4 PD57/60/86-1378TorqueCurves 10 4 ConnectorsandLEDs 13 4.1 PowerSupplyConnector . 13 4.2 I/OConnector . 14 4.3 CANConnection 14 4.4 MotorConnector . 15 4.5 LEDs . 16 5 FunctionalDescription 17 5.1 TypicalApplicationWiring 17 5.2 Inputs 17 6 OperationalRatingsandCharacteristics 18 6.1 AbsoluteMaximumRatings . 18 6.2 ElectricalCharacteristics(AmbientTemperature25C) . 18 6.3 I/ORatings(AmbientTemperature25C) . 18 6.4 FunctionalCharacteristics 19 6.5 OtherRequirements . 19 7 AbbreviationsusedinthisManual 19 8 FiguresIndex 20 9 TablesIndex 21 10 SupplementalDirectives 22 10.1 ProducerInformation 22 10.2 Copyright 22 10.3 TrademarkDesignationsandSymbols . 22 10.4 TargetUser 22 10.5 Disclaimer: LifeSupportSystems 22 10.6 Disclaimer: IntendedUse 22 10.7 CollateralDocuments&Tools 23 11 RevisionHistory 24 11.1 HardwareRevision 24 11.2 DocumentRevision 24 2021TRINAMICMotionControlGmbH&Co. KG,Hamburg,Germany Termsofdeliveryandrightstotechnicalchangereserved. Downloadnewestversionatwww.trinamic.com